Issue No.01 - January/February (1989 vol.9)
pp: 55-69
<p>The characteristics of several solid representation schemes are discussed with respect to their possible use in robot action planning systems. The World Modeler (WM), a solid modeler developed by combining the generalized cylinder approach with constructive solid geometry, is presented. An efficient algorithm for computing collision among convex polyhedrons, that utilizes the internal geometric data structure of the World Modeler is explained.</p>
Claudio Mirolo, Enrico Pagello, "A Solid Modelling System for Robot Action Planning", IEEE Computer Graphics and Applications, vol.9, no. 1, pp. 55-69, January/February 1989, doi:10.1109/38.20334
1. K. Hoermann, "A Cartesian Approach to Findpath for Industrial Robots," inLanguages for Sensor Based Control in Robotics, NATOASI Series. U. Rembold and K. Hoermann, eds., Springer-Verlag, Berlin, 1987, pp 425-450.
2. C. Laugier and J. Pertin-Troccaz, "SHAKP: A System for Automatic Programming of Manipulation Robots," inRobotics Research Third Int'l Symp., O.D. Faugers and G. Giralt, eds., MIT Press, Cambridge, Mass., 1986, pp. 125-132.
3. T. Lozano-Perez, "A Simple Motion-Planning Algorithm for General Robot Manipulators,"IEEE J. Robotics and Automotion, Vol. 3, No. 3, June 1987, pp. 224-238.
4. E. Pagello and F. Saffi, "Elementi di progetto per un sistema avanzato di program mazione degli assemblaggi meccanici" [An Advanced Programming Environment for Mechanical Assemblies],Proc. Italian Assoc. Computer Science, Vol. 2, Liguori Editore, Naples, Italy, 1983, pp. 455-467.
5. C. Mirolo, "Studio preliminare per la definizione di un modellatore del mondo per applicazioni di robotica" [A Preliminary Study to Define a World Modeler for Robotics Applications], working paper, Dept. of Mathematics and Computer Science, Univ. of Udine, Udine, Italy, Aug. 1987.
6. M.T. Mason and J.K. Salisbury, Jr.,Robot Hand and the Mechanics of Manipulation, MIT Press, Cambridge, Mass., 1985.
7. P. Bison et al., "Simulation Tools as a Programming Aid for Robot Programming," inLanguages for Sensor Based Control in Robotics, NATO-ASI Series, U. Rembold and K. Hoermann, eds., Springer-verlag, Berlin, 1987, pp 343-357.
8. T. Lozano-Perez, "Spatial Planning: A Configuration Space Approach,"IEEE: Trans. Computers, Vol. 32, No. 2, Feb. 1983, pp. 108-120.
9. R. Brooks, "Solving the Find-Path Problem by Good Representation of Free Space,"IEEE Trans. Systems, Man, and Cybernetics, Vol. 13, No. 3, Mar. 1983, pp. 190-197.
10. R. Dillmann, "A Graphical Emulation System for Robot Design and Program Testing,"Proc. 13th Int'l Symp. Industrial Robotics, Sot. Manufacturing Engineers, Dearborn, Mich., 1983, pp. 7/1-7/15.
11. P. Bison et al., "An Advanced Workstation for Interactive Robot Programming," inArtificial Intelligence, V.M. Ponomaryov, ed., Pergamon Press, Oxford, UK, 1984, pp. 209-214.
12. A. D'Angelo and C. Mirolo, "Un ambiente di programmazione basato su agenti applicato alla robotica" [An Agent-Based Programming Environment Applied to Robotics],Proc. Fourth Italian Nat'l Conf. Robots Between Science and Technology, Vol. 2, ETAS Periodici, Milan, Italy, 1988, pp. 270-282.
13. E. Pagello et al., "A Message Passing Approach to Robot Programming,"Computers in Industry, Vol. 7, No. 3, June 1986, pp. 237-247.
14. R.F. Rashid and G.G. Robertson, "ACCENT: A Communication Oriented Network Operating System Kernel," Tech. Report CMUCS-81-123, Computer Science Dept., Carnegie Mellon Univ., Pittsburgh, 1981.
15. P. Bison, E. Pagello, and G. Trainito, "VML: An Intermediate Language for Robot Programming,"Robotics and Computer Integrated Manufacturing, Vol. 5, No. 1, 1989, pp. 11-19.
16. B. Bhanu and C.-C. Ho, "CAD-based 3D object representation for robot vision,"Computer, vol. 20, pp. 19-35, Aug. 1987.
17. A. A. Requicha, "Representations for rigid solids: Theory, methods, and systems,"Comput. Surveys, vol. 12, no. 4, pp. 437-465, 1980.
18. A.A.G. Requicha and H.B. Voelcker, "Solid Modeling: A Historical Summary and Contemporary Assessment,"CG&A, Vol. 2, No. 2, Mar. 1982, pp. 9-24.
19. A.A.G. Requicha and H.B. Voelcker, "Solid Modeling: Current Status and Research Directions,"CG&A, Vol. 3, No. 7, Oct. 1983, pp. 25-37.
20. T.O. Binford, "Visual Perception by Computer,"Proc. IEEE Conf. Systems and Control, IEEE, New York, 1971.
21. B.G. Baumgart, "Winged Edge Polyhedron Representation," Stanford Artificial Intelligence Lab., Memo AIM-179 and Stanford Univ. Computer Science Report No. STAN-CS-320, Oct. 1972.
22. C.L. Jackins and S.L. Tanimoto, "Oct-Trees and Their Use in Representing Three-Dimensional Objects,"Computer Graphics and Image Processing, Vol. 14, No. 3, Nov. 1980, pp. 249-270.
23. I. Braid, "The Synthesis of Solids Bounded by Many Faces,"CACM, Apr. 1975, pp. 209-216.
24. H.B. Voelcker and A.A.G. Requicha, "Geometric Modeling of Mechanical Parts and Processes,"Computer, Vol. 10, No. 12, Dec. 1977, pp. 48-57.
25. C. Mirolo and E. Pagello, "Characterization of Solid Modelling Properties for Robot Motion Planning," ESPRIT Project No. 623, Working Paper IP-CNR-1.87/1, Padua, Italy, 1987.
26. G. Spur et al., "ESPRIT Project No. 623, Operational Control for Robot System Integration into CIM: System Planning, Implicit and Explicit Programming, Seventh Interim Report," Fraunhofer Inst. Produktionsanlagen und Konstruktionstechnik, Berlin, 1988.
27. B. Chazelle and D. P. Dobkin, "Intersection of convex objects in two and three dimensions,"J. ACM, vol. 34, no. 1, pp. 1-27, Jan. 1987.
28. D.P. Dobkin and D.G. Kirkpatrick, "Fast Detection of Polyhedral Intersection,"Theoretical Computer Science, Vol. 27, No. 3, Dec. 1983, pp. 241-253.
29. G. Chemello, M. Onofri, and E. Pagello, "Un ambiente software a due livelli per la programmazione dei robot" [A Two-Level Software Environment for Robot Programming],Proc. Fourth Italian Nat'l Conf. Robots Between Science and Technology, Vol. 2, ETAS Periodici, Milan, Italy, 1988, pp. 228-246.
30. H. E. Bal and A. S. Tanenbaum, "Distributed programming with shared data," inProc. IEEE CS 1988 Int. Conf. on Computer Languages(Miami, FL), Oct. 1988, pp. 82-91.